stm32簡(jiǎn)介外文翻譯

1、<p>　　畢業(yè)論文（設(shè)計(jì)）外文資料翻譯</p><p>　　1．外文資料翻譯譯文</p><p><b>　　STM32簡(jiǎn)介</b></p><p>　　STM32系列基于專為要求高性能、低成本、低功耗的嵌入式應(yīng)用專門設(shè)計(jì)的ARM Cortex-M3內(nèi)核。按性能分成兩個(gè)不同的系列：STM32F103“增強(qiáng)型”系列和STM32F101

2、“基本型”系列。增強(qiáng)型系列時(shí)鐘頻率達(dá)到72MHz，是同類產(chǎn)品中性能最高的產(chǎn)品；基本型時(shí)鐘頻率為36MHz，以16位產(chǎn)品的價(jià)格得到比16位產(chǎn)品大幅提升的性能，是16位產(chǎn)品用戶的最佳選擇。兩個(gè)系列都內(nèi)置32K到128K的閃存，不同的是SRAM的最大容量和外設(shè)接口的組合。時(shí)鐘頻率72MHz時(shí)，從閃存執(zhí)行代碼，STM32功耗36mA，是32位市場(chǎng)上功耗最低的產(chǎn)品，相當(dāng)于0.5mA/MHz。</p><p>　　(一)意法

3、半導(dǎo)體 (STMicroelectronics)</p><p>　　意法半導(dǎo)體 (STMicroelectronics) 集團(tuán)于1987年6月成立，是由意大利的 SGS 微電子公司和法國(guó) Thomson 半導(dǎo)體公司合并而成。1998年5月，SGS-THOMSON Microelectronics 將公司名稱改為意法半導(dǎo)體有限公司。意法半導(dǎo)體是世界最大的半導(dǎo)體公司之一。從成立之初至今，ST 的增長(zhǎng)速度超過(guò)了半導(dǎo)體

4、工業(yè)的整體增長(zhǎng)速度。自1999年起，ST 始終是世界十大半導(dǎo)體公司之一。據(jù)最新的工業(yè)統(tǒng)計(jì)數(shù)據(jù)，意法半導(dǎo)體 (STMicroelectronics) 是全球第五大半導(dǎo)體廠商，在很多市場(chǎng)居世界領(lǐng)先水平。例如，意法半導(dǎo)體是世界第一大專用模擬芯片和電源轉(zhuǎn)換芯片制造商，世界第一大工業(yè)半導(dǎo)體和機(jī)頂盒芯片供應(yīng)商，而且在分立器件、手機(jī)相機(jī)模塊和車用集成電路領(lǐng)域居世界前列。</p><p>　　意法半導(dǎo)體 (STMicroelec

5、tronics) 整個(gè)集團(tuán)共有員工近 50,000 名，擁有 16 個(gè)先進(jìn)的研發(fā)機(jī)構(gòu)、39 個(gè)設(shè)計(jì)和應(yīng)用中心、15 主要制造廠，并在 36 個(gè)國(guó)家設(shè)有 78 個(gè)銷售辦事處。公司總部設(shè)在瑞士日內(nèi)瓦，同時(shí)也是歐洲區(qū)以及新興市場(chǎng)的總部；公司的美國(guó)總部設(shè)在德克薩斯州達(dá)拉斯市的卡羅頓；亞太區(qū)總部設(shè)在新加坡；日本的業(yè)務(wù)則以東京為總部；大中國(guó)區(qū)總部設(shè)在上海，負(fù)責(zé)香港、大陸和臺(tái)灣三個(gè)地區(qū)的業(yè)務(wù)。</p><p>　　自1994年

6、12月8日首次完成公開(kāi)發(fā)行股票以來(lái)，意法半導(dǎo)體已經(jīng)在紐約證券交易所 (交易代碼：STM) 和泛歐巴黎證券交易所掛牌上市，1998年6月，又在意大利米蘭證券交易所上市。意法半導(dǎo)體擁有近 9 億股公開(kāi)發(fā)行股票，其中約 71.1% 的股票是在各證券交易所公開(kāi)交易的。另外有 27.5% 的股票由意法半導(dǎo)體控股 II B.V. 有限公司持有，其股東為 Finmeccanica 和 CDP 組成的意大利 Finmeccanica 財(cái)團(tuán)和 Areva

7、 及法國(guó)電信組成的法國(guó)財(cái)團(tuán)；剩余 1.4% 的庫(kù)藏股由意法半導(dǎo)體公司持有。</p><p>　　(二)ST超低功耗 ARM® Cortex?-M3 微控制器</p><p>　　STM32L 系列產(chǎn)品基于超低功耗的 ARM Cortex-M3 處理器內(nèi)核，采用意法半導(dǎo)體獨(dú)有的兩大節(jié)能技術(shù)：130nm 專用低泄漏電流制造工藝和優(yōu)化的節(jié)能架構(gòu)，提供業(yè)界領(lǐng)先的節(jié)能性能。該系列屬于意法半

8、導(dǎo)體陣容強(qiáng)大的 32 位 STM32 微控制器產(chǎn)品家族，目前該產(chǎn)品家族共有 180 余款產(chǎn)品，全系列產(chǎn)品共用大部分引腳、軟件和外設(shè)，優(yōu)異的兼容性為開(kāi)發(fā)人員帶來(lái)最大的設(shè)計(jì)靈活性。</p><p>　　(三)ST超低功耗 ARM® Cortex?-M0 微控制器</p><p>　　STM32F0 系列產(chǎn)品基于超低功耗的 ARM Cortex-M0 處理器內(nèi)核，整合增強(qiáng)的技術(shù)和功能，

9、瞄準(zhǔn)超低成本預(yù)算的應(yīng)用。該系列微控制器縮短了采用 8 位和 16 位微控制器的設(shè)備與采用 32 位微控制器的設(shè)備之間的性能差距，能夠在經(jīng)濟(jì)型用戶終端產(chǎn)品上實(shí)現(xiàn)先進(jìn)且復(fù)雜的功能。</p><p><b>　　(四)產(chǎn)品介紹</b></p><p>　　在STM32F105和STM32F107互連型系列微控制器之前，意法半導(dǎo)體已經(jīng)推出STM32基本型系列、增強(qiáng)型系列、US

10、B基本型系列和增強(qiáng)型系列；新系列產(chǎn)品沿用增強(qiáng)型系列的72MHz處理頻率。內(nèi)存包括64KB到256KB閃存和 20KB到64KB嵌入式SRAM。新系列采用LQFP64、LQFP100和LFBGA100三種封裝，不同的封裝保持引腳排列一致性，結(jié)合STM32平臺(tái)的設(shè)計(jì)理念，開(kāi)發(fā)人員通過(guò)選擇產(chǎn)品可重新優(yōu)化功能、存儲(chǔ)器、性能和引腳數(shù)量，以最小的硬件變化來(lái)滿足個(gè)性化的應(yīng)用需求。</p><p>　　截至2010年7月1日，市

11、面流通的型號(hào)有：</p><p>　　基本型：STM32F101R6 STM32F101C8 STM32F101R8 STM32F101V8 STM32F101RB STM32F101VB</p><p>　　增強(qiáng)型：STM32F103C8 STM32F103R8 STM32F103V8 STM32F103RB STM32F103VB STM32F103VE STM32F103ZE<

12、/p><p>　　STM32型號(hào)的說(shuō)明：以STM32F103RBT6這個(gè)型號(hào)的芯片為例，該型號(hào)的組成為7個(gè)部分，其命名規(guī)則如下：</p><p>　?。?）STM32：STM32代表ARM Cortex-M3內(nèi)核的32位微控制器。</p><p>　?。?）F：F代表芯片子系列。</p><p>　?。?）103：103代表增強(qiáng)型系列。</

13、p><p>　?。?）R：R這一項(xiàng)代表引腳數(shù)，其中T代表36腳，C代表48腳，R代表64腳，V代表100腳，Z代表144腳。</p><p>　?。?）B：B這一項(xiàng)代表內(nèi)嵌Flash容量，其中6代表32K字節(jié)Flash，8代表64K字節(jié)Flash，B代表128K字節(jié)Flash，C代表256K字節(jié)Flash，D代表384K字節(jié)Flash，E代表512K字節(jié)Flash。</p>&l

14、t;p>　?。?）T：T這一項(xiàng)代表封裝，其中H代表BGA封裝，T代表LQFP封裝，U代表VFQFPN封裝。</p><p>　?。?）6：6這一項(xiàng)代表工作溫度范圍，其中6代表-40——85℃，7代表-40——105℃。</p><p>　　(五)STM32F103性能特點(diǎn)</p><p><b>　　特點(diǎn)</b></p>&

15、lt;p>　　1、內(nèi)核：ARM32位Cortex-M3 CPU，最高工作頻率72MHz，1.25DMIPS/MHz。單周期乘法和硬件除法。</p><p>　　2、存儲(chǔ)器：片上集成32-512KB的Flash存儲(chǔ)器。6-64KB的SRAM存儲(chǔ)器。</p><p>　　3、時(shí)鐘、復(fù)位和電源管理：2.0-3.6V的電源供電和I/O接口的驅(qū)動(dòng)電壓。POR、PDR和可編程的電壓探測(cè)器（PVD

16、）。4-16MHz的晶振。內(nèi)嵌出廠前調(diào)校的8MHz RC振蕩電路。內(nèi)部40 kHz的RC振蕩電路。用于CPU時(shí)鐘的PLL。帶校準(zhǔn)用于RTC的32kHz的晶振。</p><p>　　4、低功耗：3種低功耗模式：休眠，停止，待機(jī)模式。為RTC和備份寄存器供電的VBAT。</p><p>　　5、調(diào)試模式：串行調(diào)試（SWD）和JTAG接口。</p><p>　　6、DMA

17、：12通道DMA控制器。支持的外設(shè)：定時(shí)器，ADC，DAC，SPI，IIC和USART。</p><p>　　7、2個(gè)12位的us級(jí)的A/D轉(zhuǎn)換器（16通道）：A/D測(cè)量范圍：0-3.6 V。雙采樣和保持能力。片上集成一個(gè)溫度傳感器。</p><p>　　8、2通道12位D/A轉(zhuǎn)換器：STM32F103xC,STM32F103xD,STM32F103xE獨(dú)有。</p><

18、;p>　　9、最多高達(dá)112個(gè)的快速I/O端口：根據(jù)型號(hào)的不同，有26，37，51，80，和112的I/O端口，所有的端口都可以映射到16個(gè)外部中斷向量。除了模擬輸入，所有的都可以接受5V以內(nèi)的輸入。</p><p>　　10、最多多達(dá)11個(gè)定時(shí)器：4個(gè)16位定時(shí)器，每個(gè)定時(shí)器有4個(gè)IC/OC/PWM或者脈沖計(jì)數(shù)器。2個(gè)16位的6通道高級(jí)控制定時(shí)器：最多6個(gè)通道可用于PWM輸出。2個(gè)看門狗定時(shí)器（獨(dú)立看門狗

19、和窗口看門狗）。Systick定時(shí)器：24位倒計(jì)數(shù)器。2個(gè)16位基本定時(shí)器用于驅(qū)動(dòng)DAC。</p><p>　　11、最多多達(dá)13個(gè)通信接口：2個(gè)IIC接口（SMBus/PMBus）。5個(gè)USART接口（ISO7816接口，LIN，IrDA兼容，調(diào)試控制）。3個(gè)SPI接口（18 Mbit/s），兩個(gè)和IIS復(fù)用。CAN接口（2.0B）。USB 2.0全速接口。SDIO接口。</p><p>

20、;　　12、ECOPACK封裝：STM32F103xx系列微控制器采用ECOPACK封裝形式。</p><p><b>　　系統(tǒng)作用</b></p><p>　　1、集成嵌入式Flash和SRAM存儲(chǔ)器的ARM Cortex-M3內(nèi)核。和8/16位設(shè)備相比，ARM Cortex-M3 32位RISC處理器提供了更高的代碼效率。STM32F103xx微控制器帶有一個(gè)嵌入

21、式的ARM核，所以可以兼容所有的ARM工具和軟件。</p><p>　　2、嵌入式Flash存儲(chǔ)器和RAM存儲(chǔ)器：內(nèi)置多達(dá)512KB的嵌入式Flash，可用于存儲(chǔ)程序和數(shù)據(jù)。多達(dá)64KB的嵌入式SRAM可以以CPU的時(shí)鐘速度進(jìn)行讀寫（不待等待狀態(tài)）。</p><p>　　3、可變靜態(tài)存儲(chǔ)器（FSMC）：FSMC嵌入在STM32F103xC，STM32F103xD，STM32F103xE中，

22、帶有4個(gè)片選，支持四種模式：Flash，RAM，PSRAM，NOR和NAND。3個(gè)FSMC中斷線經(jīng)過(guò)OR后連接到NVIC。沒(méi)有讀/寫FIFO，除PCCARD之外，代碼都是從外部存儲(chǔ)器執(zhí)行，不支持Boot，目標(biāo)頻率等于SYSCLK/2，所以當(dāng)系統(tǒng)時(shí)鐘是72MHz時(shí)，外部訪問(wèn)按照36MHz進(jìn)行。</p><p>　　4、嵌套矢量中斷控制器（NVIC）：可以處理43個(gè)可屏蔽中斷通道（不包括Cortex-M3的16根中斷

23、線），提供16個(gè)中斷優(yōu)先級(jí)。緊密耦合的NVIC實(shí)現(xiàn)了更低的中斷處理延遲，直接向內(nèi)核傳遞中斷入口向量表地址，緊密耦合的NVIC內(nèi)核接口，允許中斷提前處理，對(duì)后到的更高優(yōu)先級(jí)的中斷進(jìn)行處理，支持尾鏈，自動(dòng)保存處理器狀態(tài)，中斷入口在中斷退出時(shí)自動(dòng)恢復(fù)，不需要指令干預(yù)。</p><p>　　5、外部中斷/事件控制器（EXTI）：外部中斷/事件控制器由用于19條產(chǎn)生中斷/事件請(qǐng)求的邊沿探測(cè)器線組成。每條線可以被單獨(dú)配置用于

24、選擇觸發(fā)事件（上升沿，下降沿，或者兩者都可以），也可以被單獨(dú)屏蔽。有一個(gè)掛起寄存器來(lái)維護(hù)中斷請(qǐng)求的狀態(tài)。當(dāng)外部線上出現(xiàn)長(zhǎng)度超過(guò)內(nèi)部APB2時(shí)鐘周期的脈沖時(shí)，EXTI能夠探測(cè)到。多達(dá)112個(gè)GPIO連接到16個(gè)外部中斷線。</p><p>　　6、時(shí)鐘和啟動(dòng)：在啟動(dòng)的時(shí)候還是要進(jìn)行系統(tǒng)時(shí)鐘選擇，但復(fù)位的時(shí)候內(nèi)部8MHz的晶振被選用作CPU時(shí)鐘。可以選擇一個(gè)外部的4-16MHz的時(shí)鐘，并且會(huì)被監(jiān)視來(lái)判定是否成功。在這

25、期間，控制器被禁止并且軟件中斷管理也隨后被禁止。同時(shí)，如果有需要（例如碰到一個(gè)間接使用的晶振失?。琍LL時(shí)鐘的中斷管理完全可用。多個(gè)預(yù)比較器可以用于配置AHB頻率，包括高速APB(PB2)和低速APB（APB1），高速APB最高的頻率為72MHz，低速APB最高的頻率為36MHz。</p><p>　　7、Boot模式：在啟動(dòng)的時(shí)候，Boot引腳被用來(lái)在3種Boot選項(xiàng)種選擇一種：從用戶Flash導(dǎo)入，從系統(tǒng)存

26、儲(chǔ)器導(dǎo)入，從SRAM導(dǎo)入。Boot導(dǎo)入程序位于系統(tǒng)存儲(chǔ)器，用于通過(guò)USART1重新對(duì)Flash存儲(chǔ)器編程。</p><p>　　8、電源供電方案：VDD ，電壓范圍為2.0V-3.6V，外部電源通過(guò)VDD引腳提供，用于I/O和內(nèi)部調(diào)壓器。VSSA和VDDA，電壓范圍為2.0-3.6V，外部模擬電壓輸入，用于ADC，復(fù)位模塊，RC和PLL，在VDD范圍之內(nèi)（ADC被限制在2.4V），VSSA和VDDA必須相應(yīng)連接到

27、VSS和VDD。VBAT，電壓范圍為1.8-3.6V，當(dāng)VDD無(wú)效時(shí)為RTC，外部32KHz晶振和備份寄存器供電（通過(guò)電源切換實(shí)現(xiàn)）。</p><p>　　9、電源管理：設(shè)備有一個(gè)完整的上電復(fù)位（POR）和掉電復(fù)位（PDR）電路。這條電路一直有效，用于確保從2V啟動(dòng)或者掉到2V的時(shí)候進(jìn)行一些必要的操作。當(dāng)VDD低于一個(gè)特定的下限VPOR/PDR時(shí)，不需要外部復(fù)位電路，設(shè)備也可以保持在復(fù)位模式。設(shè)備特有一個(gè)嵌入的可

28、編程電壓探測(cè)器（PVD），PVD用于檢測(cè)VDD，并且和VPVD限值比較，當(dāng)VDD低于VPVD或者VDD大于VPVD時(shí)會(huì)產(chǎn)生一個(gè)中斷。中斷服務(wù)程序可以產(chǎn)生一個(gè)警告信息或者將MCU置為一個(gè)安全狀態(tài)。PVD由軟件使能。</p><p>　　10、電壓調(diào)節(jié)：調(diào)壓器有3種運(yùn)行模式：主（MR），低功耗（LPR）和掉電。MR用在傳統(tǒng)意義上的調(diào)節(jié)模式（運(yùn)行模式），LPR用在停止模式，掉電用在待機(jī)模式：調(diào)壓器輸出為高阻，核心電路掉

29、電，包括零消耗（寄存器和SRAM的內(nèi)容不會(huì)丟失）。</p><p>　　11、低功耗模式：STM32F103xx支持3種低功耗模式，從而在低功耗，短啟動(dòng)時(shí)間和可用喚醒源之間達(dá)到一個(gè)最好的平衡點(diǎn)。休眠模式：只有CPU停止工作，所有外設(shè)繼續(xù)運(yùn)行，在中斷/事件發(fā)生時(shí)喚醒CPU；停止模式：允許以最小的功耗來(lái)保持SRAM和寄存器的內(nèi)容。1.8V區(qū)域的時(shí)鐘都停止，PLL，HSI和HSE RC振蕩器被禁能，調(diào)壓器也被置為正?；?/p>

30、者低功耗模式。設(shè)備可以通過(guò)外部中斷線從停止模式喚醒。外部中斷源可以使16個(gè)外部中斷線之一，PVD輸出或者TRC警告。待機(jī)模式：追求最少的功耗，內(nèi)部調(diào)壓器被關(guān)閉，這樣1.8V區(qū)域斷電。PLL,HSI和HSE RC振蕩器也被關(guān)閉。在進(jìn)入待機(jī)模式之后，除了備份寄存器和待機(jī)電路，SRAM和寄存器的內(nèi)容也會(huì)丟失。當(dāng)外部復(fù)位（NRST引腳），IWDG復(fù)位，WKUP引腳出現(xiàn)上升沿或者TRC警告發(fā)生時(shí)，設(shè)備退出待機(jī)模式。進(jìn)入停止模式或者待機(jī)模式時(shí)，TR

31、C,IWDG和相關(guān)的時(shí)鐘源不會(huì)停止。</p><p><b>　　(六)架構(gòu)優(yōu)勢(shì)</b></p><p>　　除新增的功能強(qiáng)化型外設(shè)接口外，STM32互連系列還提供與其它STM32微控制器相同的標(biāo)準(zhǔn)接口，這種外設(shè)共用性提升了整個(gè)產(chǎn)品家族的應(yīng)用靈活性，使開(kāi)發(fā)人員可以在多個(gè)設(shè)計(jì)中重復(fù)使用同一個(gè)軟件。新STM32的標(biāo)準(zhǔn)外設(shè)包括10個(gè)定時(shí)器、兩個(gè)12位1-Msample/s

32、模數(shù)轉(zhuǎn)換器 (交錯(cuò)模式下2-Msample/s)、兩個(gè)12位數(shù)模轉(zhuǎn)換器、兩個(gè)I2C接口、五個(gè)USART接口和三個(gè)SPI端口。新產(chǎn)品外設(shè)共有12條DMA通道，還有一個(gè)CRC計(jì)算單元，像其它STM32微控制器一樣，支持96位唯一標(biāo)識(shí)碼。</p><p>　　新系列微控制器還沿續(xù)了STM32產(chǎn)品家族的低電壓和節(jié)能兩大優(yōu)點(diǎn)。2.0V到3.6V的工作電壓范圍兼容主流的電池技術(shù)，如鋰電池和鎳氫電池，封裝還設(shè)有一個(gè)電池工作模式

33、專用引腳Vbat。以72MHz頻率從閃存執(zhí)行代碼，僅消耗 27mA電流。低功耗模式共有四種，可將電流消耗降至兩微安。從低功耗模式快速啟動(dòng)也同樣節(jié)省電能；啟動(dòng)電路使用STM32內(nèi)部生成的8MHz信號(hào)，將微控制器從停止模式喚醒用時(shí)小于6微秒。</p><p><b>　　二、消防機(jī)器人簡(jiǎn)介</b></p><p>　　消防機(jī)器人作為特種機(jī)器人的一種，在滅火和搶險(xiǎn)救援中愈加

34、發(fā)揮舉足輕重的作用。各種大型石油化工企業(yè)、隧道、地鐵等不斷增多，油品燃?xì)?、毒氣泄漏爆炸、隧道、地鐵坍塌等災(zāi)害隱患不斷增加。消防機(jī)器人能代替消防救援人員進(jìn)入易燃易爆、有毒、缺氧、濃煙等危險(xiǎn)災(zāi)害事故現(xiàn)場(chǎng)進(jìn)行數(shù)據(jù)采集、處理、反饋。</p><p><b>　　(一)簡(jiǎn)介</b></p><p>　　消防機(jī)器人作為特種消防設(shè)備可代替消防隊(duì)員接近火場(chǎng)實(shí)施有效的滅火救援、化學(xué)檢驗(yàn)

35、和火場(chǎng)偵察。它的應(yīng)用將提高消防部隊(duì)撲滅特大惡性火災(zāi)的實(shí)戰(zhàn)能力，對(duì)減少國(guó)家財(cái)產(chǎn)損失和滅火救援人員的傷亡將產(chǎn)生重要的作用。</p><p><b>　　(二)背景介紹</b></p><p>　　隨著社會(huì)經(jīng)濟(jì)的迅猛發(fā)展，建筑和企業(yè)生產(chǎn)的特殊性，導(dǎo)致化學(xué)危險(xiǎn)品和放射性物質(zhì)泄漏以及燃燒、爆炸、坍塌的事故隱患增加，事故發(fā)生的概率也相應(yīng)提高。</p><p&g

36、t;　　一旦發(fā)生災(zāi)害事故，消防員面對(duì)高溫、黑暗、有毒和濃煙等危害環(huán)境時(shí)，若沒(méi)有相應(yīng)的設(shè)備貿(mào)然沖進(jìn)現(xiàn)場(chǎng)，不僅不能完成任務(wù)，還會(huì)徒增人員傷亡。</p><p>　　消防機(jī)器人作為特種機(jī)器人的一種，在滅火和搶險(xiǎn)救援中愈加發(fā)揮舉足輕重的作用。各種大型石油化工企業(yè)、隧道、地鐵等不斷增多，油品燃?xì)?、毒氣泄漏爆炸、隧道、地鐵坍塌等災(zāi)害隱患不斷增加。此類災(zāi)害具有突發(fā)性強(qiáng)、處置過(guò)程復(fù)雜、危害巨大、防治困難等特點(diǎn)，已成頑疾。消防機(jī)器

37、人能代替消防救援人員進(jìn)入易燃易爆、有毒、缺氧、濃煙等危險(xiǎn)災(zāi)害事故現(xiàn)場(chǎng)進(jìn)行數(shù)據(jù)采集、處理、反饋，有效地解決消防人員在上述場(chǎng)所面臨的人身安全、數(shù)據(jù)信息采集不足等問(wèn)題?，F(xiàn)場(chǎng)指揮人員可以根據(jù)其反饋結(jié)果，及時(shí)對(duì)災(zāi)情作出科學(xué)判斷，并對(duì)災(zāi)害事故現(xiàn)場(chǎng)工作作出正確、合理的決策。</p><p><b>　　(三)發(fā)展歷史</b></p><p>　　機(jī)器人自60年代初問(wèn)世以來(lái)，經(jīng)歷40

38、余年的發(fā)展，己取得長(zhǎng)足進(jìn)步，社會(huì)各行各業(yè)皆可見(jiàn)其身影。</p><p>　　從1986年日本東京消防廳首次在滅火中采用了“彩虹5號(hào)”機(jī)器人后，消防機(jī)器人就逐漸在滅火救災(zāi)領(lǐng)域得到廣泛的應(yīng)用，消防機(jī)器人技術(shù)也得到快速的發(fā)展。截至目前，消防機(jī)器人已經(jīng)穩(wěn)步向第三代高端智能機(jī)器人發(fā)展。</p><p>　　面對(duì)無(wú)情的火災(zāi)，公安部上海消防研究所、上海交通大學(xué)、上海市消防局共同制定了研制消防機(jī)器人的計(jì)劃

39、。經(jīng)過(guò)3年的研究，中國(guó)第一臺(tái)消防機(jī)器人已經(jīng)誕生。消防機(jī)器人可以行走、爬坡、跨障、噴射滅火，可以進(jìn)行火場(chǎng)偵察。</p><p><b>　　2.外文原文</b></p><p>　　Introduction of STM32</p><p>　　STM32 is based on the family of ARM Cortex-M3 core

40、- designed specifically for embedded applications that require high performance, low cost, low power consumption. The performance is divided into two different series: STM32F103 the "Enhanced" series and STM32F

41、101 the "Basic" series. The clock frequency of Enhanced Series is up to 72MHz, the highest performance of similar products; the clock frequency of Basic Series is 36MHz, and the prices of 16 position products s

42、ignificantly enhance the perf</p><p>　　a. STMicroelectronics Group</p><p>　　STMicroelectronics Group was established in June 1987, is a merger of Italy's SGS Microelectronics and the French

43、Thomson semiconductor company. In May 1998, SGS-THOMSON Microelectronics will change the company name to STMicroelectronics Limited. STMicroelectronics is one of the largest semiconductor companies in the world. From its

44、 inception to date, ST's growing faster than the overall rate of growth of the semiconductor industry. Since 1999, ST has always been one of the world's top ten semic</p><p>　　STMicroelectronics has

45、the entire group employs nearly 50,000, with 16 state-of-the-art R & D institutions and 39 design and application centers, 15 main manufacturing plant, and has 78 sales offices in 36 countries. The company is headqua

46、rtered in Geneva, Switzerland, is also the headquarters of European and emerging markets; company's U.S. headquarters in Dallas, Texas, Carrollton; Asia-Pacific headquarters in Singapore; business in Japan by Tokyo a

47、s a headquarters ; Greater China headquarters</p><p>　　December 8, 1994 for the first time since the completion of the public offering of shares, STMicroelectronics has been in New York Stock Exchange (ticke

48、r symbol: STM) and Pan Ou Bali Stock Exchange listed, in June 1998, in Milan, Italy, securities Exchange. STMicroelectronics has nearly 900 million shares in the public offering of shares, of which approximately 71.1% of

49、 the shares are publicly traded on the various stock exchanges. Another 27.5% of the stock by STMicroelectronics Holding II BV L</p><p>　　b. ST ultra-low-power ARM ® Cortex ?-M3 microcontroller</p&g

50、t;<p>　　STM32L series of products are based on the ultra-low-power ARM Cortex-M3 processor core, STMicroelectronics two unique energy-saving technologies: 130nm dedicated low-leakage current manufacturing process

51、and optimize energy-saving architecture to deliver industry-leading energy-saving performance. This series belongs to the lineup 32 STMicroelectronics STM32 microcontroller product family, the product family, a total of

52、180 balance of product, the full range of products share most of the pin, s</p><p>　　c. ST ultra-low-power ARM ® Cortex ?-M0 microcontroller</p><p>　　STM32F0 series of products are based on

53、 the ultra-low-power ARM Cortex-M0 processor core technology and features, enhanced integration, aimed at the application of ultra-low-cost budget. The family of microcontrollers to shorten the 8-bit and 16-bit micro-con

54、troller devices and the performance gap between the 32-bit microcontroller device, the user terminal products in the economy to achieve state-of-the-art complex features.</p><p>　　d. Products</p><

55、p>　　Before STM32F105 and STM32F107 interconnect family of microcontrollers, STMicroelectronics has introduced the STM32 Access Line Enhanced Series, the series of the USB basic series and enhanced; new products follow

56、 the Enhanced Series 72MHz processing frequency. Memory 64KB to 256KB Flash and 20KB to 64KB embedded SRAM. The LQFP64, LQFP100, and LFBGA100 three package in the new series, a different package to maintain the pin out c

57、onsistency, combined with the STM32 platform design philosophy, and</p><p>　　Until July 1, 2010, the circulation of models:</p><p>　　Basic: STM32F101R6 STM32F101C8 STM32F101R8 STM32F101V8 STM32F

58、101RB STM32F101VB</p><p>　　Enhanced: STM32F103C8 STM32F103R8 STM32F103V8 STM32F103RBSTM32F103VB STM32F103VE STM32F103ZE</p><p>　　STM32 models Description: STM32F103RBT6 chip model, for example,

59、the compositions of the models of seven parts, its naming rules are as follows:</p><p>　　(1) STM32: STM32 ARM Cortex-M3 represents kernel of 32-bit microcontrollers.</p><p>　　(2) F: F represents

60、 the chip sub-series.</p><p>　　(3) 103:103 representatives Enhanced Series.</p><p>　　(4) R: R This is a representative of the number of pins, where T represents 36 feet, 48 feet, C represents, R

61、 represents a 64 feet, V represents the 100-pin 144-pin, Z represents.</p><p>　　(5) B: B a representative of embedded Flash capacity, including 6 on behalf of 32K bytes of Flash, 8 on behalf of 64K bytes Fla

62、sh, 384K bytes Flash B on behalf of 128K bytes Flash, C on behalf of 256K bytes Flash, D representatives E on behalf of 512K bytes Flash.</p><p>　　(6) T: T a representative of the package, in which H represe

63、nts BGA package, T represents LQFP package, U represents VFQFPN package.</p><p>　　(7) 6:6 This is a representative of the operating temperature range, where 6 represents -40 - 85 ℃, 7 on behalf of -40 - 105

64、℃.</p><p>　　e. STM32F103 performance characteristics</p><p><b>　　Feature</b></p><p>　　1. The kernel: ARM32-bit Cortex-M3 CPU, the maximum operating frequency of 72MHz,1.

65、25DMIPS/MHz. Single-cycle multiply and hardware division.</p><p>　　2. Memory: integrated on-chip 32-512KB of Flash memory and 6-64KB SRAM memory.</p><p>　　3. Clock reset and power management: 2.

66、0-3 .6 V drive voltage of the power supply and I / O interface, POR, PDR and programmable voltage detector (PVD), 4-16MHz crystal oscillator, embedded 8MHz RC oscillator tuning circuit in the factory, 40 kHz internal RC

67、oscillator circuit. For the CPU clock PLL. With the calibration for the RTC 32kHz crystal.</p><p>　　4. Low power consumption: three kinds of low-power modes: Sleep, stop, standby mode. Powered the VBAT RTC a

68、nd backup registers.</p><p>　　5. Debug mode: serial debug (SWD) and JTAG interfaces.</p><p>　　6. DMA: 12-channel DMA controller; supported peripherals: timers, ADC, DAC, SPI, IIC and USART.</

69、p><p>　　7.2 12 us class A / D converter (16-channel): A / D measurement range: 0-3 .6 V. Dual sample and hold capability. The chip integrates a temperature sensor.</p><p>　　8. 2-channel 12-bit D /

70、A converter: STM32F103xC STM32F103xD STM32F103xE unique.</p><p>　　9. A maximum of up to 112 fast I / O ports: Depending on the model, 26,37,51,80, and 112 I / O ports, all ports can be mapped to the 16 exter

71、nal interrupt vector. In addition to the analog input can accept less than 5V input.</p><p>　　10. A maximum of up to 11 timers: four 16-bit timers, each timer 4 IC / OC / PWM or pulse counter. Two 16-channel

72、 advanced control timer: up to 6 channels for PWM output. 2 watchdog timers (independent watchdog and window watchdog). Systick timer: 24-bit down counter. Two 16-bit basic timer is used to drive the DAC.</p><

73、p>　　11. A maximum of up to 13 communication interfaces: two IIC interface (SMBus / PMBus), 5 USART interface (ISO7816 interface, LIN, IrDA compatible, the debugging control), Three SPI interface (18 Mbit / s), two and

74、 IIS reuse, CAN interface (2.0B), USB 2.0 full-speed interface, SDIO interface.</p><p>　　12. ECOPACK package: STM32F103xx family of microcontrollers ECOPACK package.</p><p>　　System role</p&g

75、t;<p>　　1. Integrated embedded Flash and SRAM memory, ARM Cortex-M3 core. And compared to the 8/16 devices, the ARM Cortex-M3 32-bit RISC processor provides a higher efficiency of the code. The STM32F103xx microco

76、ntroller with an embedded ARM core, so can be compatible with all ARM tools and software.</p><p>　　2. Embedded Flash memory and RAM memory: built-up to 512KB embedded Flash, can be used to store programs and

77、 data. Up to 64KB of embedded SRAM can read and write to the clock speed of the CPU (not wait state).</p><p>　　3. A variable static memory (FSMC): FSMC embedded in STM32F103xC, STM32F103xD, STM32F103xE, with

78、 four chip select support four modes: Flash, RAM, PSRAM, NOR and NAND. After OR after three FSMC interrupt lines connected to the NVIC. No read / write FIFO PCCARD outside, the code is executed from the external memory,

79、and does not support the Boot took target frequency equal to SYSCLK / 2 Therefore, when the system clock is 72MHz, external access, according to 36MHz.</p><p>　　4. Nested vector interrupt controller (NVIC):

80、can handle 43 maskable interrupt channels (not including the 16 interrupt lines of Cortex-M3), provides 16 interrupt priority. Tightly coupled NVIC lower interrupt processing delay directly passed to the kernel interrupt

81、 entry vector table address, tightly coupled the NVIC kernel interface, allows interrupts to be anticipated, after the higher-priority interrupt handling support tail chain, automatically save the state of the processor,

82、 interrupt ent</p><p>　　5. The external interrupt / event controller (EXTI): External interrupt / event controller for 19 to generate an interrupt / event request edge detector lines. Each line can be indivi

83、dually configured to select the trigger event (rising edge, falling edge, or both), can also be individually shielded, a pending register to maintain the state of the interrupt request. When the external line appear long

84、er than internal APB2 clock cycle pulse, EXTI is able to detect. Up to 112 GPIO connected to the </p><p>　　6. Clock and start: start or system clock selection, but reset when the internal 8MHz crystal was se

85、lected as the CPU clock. Can select one of 4-16MHz external clock, and will be monitored to determine whether successful. During this period, the controller is disabled and the software interrupt management subsequently

86、also be prohibited. At the same time, if there is a need (for example, encountered an indirect use of crystal failed), PLL clock interrupt management fully available. Multiple pre-</p><p>　　7. Boot mode: sta

87、rtup, Boot pin is used to select one of three kinds Boot Options kinds: Import from user Flash memory from the system import, import from SRAM. The Boot import program is located in the system memory for Flash Memory Pro

88、gramming by USART1 re.</p><p>　　8. Power supply program: VDD voltage range of 2.0V-3.6V, VDD pin provides an external power supply through, for I / O and internal regulator. VSSA and VDDA, voltage range of 2

89、.0-3.6V, external analog voltage input for the ADC reset module, RC and PLL VDD range (ADC is limited to 2.4V); VSSA and VDDA must be corresponding connection to VSS and VDD. VBAT, the voltage range of 1.8-3.6V, VDD inva

90、lid for RTC, external 32KHz crystal oscillator and backup registers power supply (via the power switch to</p><p>　　9. Power management: The device has a power-on reset (POR) circuit and power-down reset (PDR

91、). This circuit has been used to ensure that the necessary operating from 2V starts fell to 2V. When VDD drops below a specific lower limit VPOR / PDR, without the need for an external reset circuit, the device can also

92、be held in reset mode. Equipment specific to an embedded programmable voltage detector (PVD) PVD for detecting VDD compare and VPVD limit, will generate an interrupt when VDD to lower than</p><p>　　10. Volta

93、ge regulator: The regulator has three operation modes: main (MR), low power (LPR) and power-down. MR used in the traditional sense of the adjustment mode (operating mode), LPR is used in the stop mode, power down in stan

94、dby mode: regulator output is high impedance, the core circuit power-down; including zero consumption (the contents of the registers and SRAM will be lost).</p><p>　　11. The low-power mode: STM32F103xx suppo

95、rt three kinds of low-power mode, so as to achieve the best balance between low-power, short start-up time and wake-up source available. Sleep mode: only the CPU stops working, all peripherals continue to run, wake up th

96、e CPU interrupt / event occurs; Stop mode: allows keeping the contents of the SRAM and registering with minimal power consumption. The 1.8V regions of the clock are stopped, the PLL, the HSI and the HSE RC oscillators ar

97、e disabled, and the</p><p>　　f. Architectural advantages</p><p>　　In addition to the new features enhanced peripheral interface, STM32 interconnection series also provide the same standard inter

98、face with other STM32 microcontroller shared this peripheral enhance application flexibility of the entire product family, so that developers can multiple designs to repeated use of the same software. New STM32 standard

99、peripherals include 10 timers, two 12-Msample / s analog-to-digital converter (Interleaved 2-Msample / s mode), two 12-bit digital-to-analog converters,</p><p>　　The new family of microcontrollers also has f

100、ollowed the STM32 product family of low-voltage and energy-saving advantages. The operating voltage range of 2.0V to 3.6V, compatible with mainstream battery technology, such as lithium batteries and nickel-metal hydride

101、 batteries, the package also features a battery mode dedicated pin V bat. 72MHz frequency code execution from flash consumes only 27mA of current. Low-power mode, there are four; the current consumption can be reduced to